CN101287639A - Vehicle steering apparatus - Google Patents
Vehicle steering apparatus Download PDFInfo
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- CN101287639A CN101287639A CNA2006800382620A CN200680038262A CN101287639A CN 101287639 A CN101287639 A CN 101287639A CN A2006800382620 A CNA2006800382620 A CN A2006800382620A CN 200680038262 A CN200680038262 A CN 200680038262A CN 101287639 A CN101287639 A CN 101287639A
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- 230000007935 neutral effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 230000008485 antagonism Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
A vehicle steering apparatus enabling a great returning torque to be prevented from acting when a steering wheel is turned so as to improve the feeling of steering. In steps S12 to S16 of an assist control program, the torque (assist torque) of an electric motor (15) is calculated by adding (actually subtracting) the returning torque gTrto to the wheel-turning torque Tc. According to the assist torque, the electric motor is driven and controlled. In this drive and control, when the steering torque is high, the returning torque gain g calculated at step S14 is small, and therefore the returning torque gTrto is small or zero. As the force (torque) required to steer the steering wheel increases, the influence of the returning torque becomes small. Hence, the feeling of steering when the steering wheel is turned is improved.
Description
Technical field
The present invention relates to steering device of vehicle, more particularly, relate to the steering device of vehicle that comprises so-called power steering device, the equipment that described power steering device is promptly assisted the rotation of carrying out rotatable wheel according to steering operation.
Background technology
Traditionally, known a kind of steering device of vehicle, this equipment comprises so-called power steering device, promptly is used for the equipment that auxiliary rotatable wheel rotates, described rotation is to carry out according to the steering operation of bearing circle.The well known example of this power steering device comprises: fluid power power steering device, this equipment produce by hydraulic actuator and turn to assist torque; And electric power steering (EPS) equipment, this equipment produces by electric actuator (for example electrical motor) and turns to assist torque.Particularly in recent years, electric power steering equipment has attracted attention, because they can easily be installed on the vehicle and can improve consumption of fuel.
, power steering device improves its turning efficiency for having proposed various technology.For example, N.2002-145101 Japanese Patent Application Publication (kokai) has been described and has a kind ofly been returned control at bearing circle from what steering position was carried out when neutral position returns.In returning control, return torque and be set so that returning torque increases along with deflection angle speed and reduce, thus the convergence (convergence) when improving bearing circle and returning neutral position.
But, in above-mentioned patent documentation 1, return torque owing to setting, so when bearing circle returns, may apply bigger Returning torque according to deflection angle speed.Therefore, in the case, the problem that torque plays drag effect occurred returning when bearing circle returns, institute is so that turn to the sense variation.
Summary of the invention
The present invention has been developed and has solved the problems referred to above, an object of the present invention is to provide a kind of steering device of vehicle, and this equipment can prevent to have when bearing circle from rotating and return torque more greatly, turns to sense thereby improve.
To achieve these goals, the invention provides a kind of steering device of vehicle, it comprises and is used for actuator that the steering operation of bearing circle is assisted.This equipment comprises: turn to torque sensor, it is used to detect the torque that turns to from described bearing circle input; Return torque and determine device, be used for determining when described bearing circle returns returning torque, make and describedly return torque and turn to along with described that torque sensor is detected to be turned to torque to increase and reduce what described steering operation was assisted; Driving control device is used for according to being returned torque and determined that device is determined and return torque and drive and control described actuator by described.
According to the present invention, return torque and determine that device is set and return torque, make to turn to torque big more that it is just more little to return torque.Therefore, in that bearing circle is rotated is used when turning to torque big, the torque of returning that plays drag effect diminishes.That is, the required power (torque) of direction of operating dish is big more, and the influence of returning torque is just more little.Turn to sense when therefore, having improved steering wheel rotation.
Preferably, return torque and determine that device determines to return torque, make that returning torque reduces along with turning to torque to increase as mentioned above, and along with the steering angle of bearing circle increases and increases.By being provided with by this way, returning torque can be controlled according to turning to torque and steering angle.For example, big and turn to torque hour (for example in the operation of bearing circle when rotating operation switches to return) at steering angle, need a kind of priority processing make bearing circle return the control of neutral position.In the present invention, increase in the case and return torque, thereby can make bearing circle return neutral position rapidly.
Preferably, describedly return torque and determine that device comprises: benchmark returns torque and determines device, it is used for determining that benchmark returns torque, it is as the described torque of returning a reference value of torque that described benchmark returns torque, makes described benchmark return torque along with the detected steering angle of described steering angle sensor increases and increases; Return gain of torque and determine device, it is used for determining to return the relevant gain of torque with described benchmark, make described gain turn to along with described that torque sensor is detected to be turned to torque to increase and reduce, wherein, based on returning torque that torque determines that device is determined by described benchmark and returning the gain that gain of torque determines that device is determined, determine the described torque of returning by described.By this structure, can return torque and return gain (returning gain of torque) that gain of torque determines that device is determined and multiply each other and determine to return torque by benchmark being returned benchmark that torque determines that device is determined.Like this, can not only consider the influence that turns to torque, and the influence of considering steering angle is set and is returned torque.In the case, the value of returning gain of torque can be set in the positive count scope, for example in from 0 to 1 the scope.In addition, return gain of torque and can also be configured such that returning gain of torque turns to torque to increase and reduce along with detected, and when turning to torque to get predetermined value or bigger value, be set to zero.
Preferably, steering device of vehicle of the present invention comprises that also rotational torque determines device, be used to determine when rotating described bearing circle, to be used for rotational torque that described steering operation is assisted, make described rotational torque turn to along with described that torque sensor is detected to be turned to torque to increase and increase, wherein, described driving control device drives and controls described actuator according to being determined rotational torque that device is determined by described rotational torque and returning the torque of returning that torque determines that device determines by described.By this structure,, and return torque and drive and control actuator according to determined not only according to determined rotational torque.When steering wheel rotation and when bearing circle is returned, can carry out when having considered to rotate turning to sense and the constringent situation when returning under to have carried out turning to of balance auxiliary.In the case, preferably, be provided with assist torque and determine that device is based on being determined the determined rotational torque of device by rotational torque and determining that device is determined and return torque and determine assist torque by returning torque, wherein, driving control device is according to being determined that by assist torque the assist torque that device is determined drives and control actuator.Notice that rotational torque determines that device can determine rotational torque, make rotational torque turn to torque and increase and at the detected steady state value of getting when turning to torque to get predetermined value or bigger value along with detected.In addition, rotational torque determines that device can use the speed of a motor vehicle to make the speed of a motor vehicle low more as parameter and definite rotational torque, and rotational torque is just big more.
Description of drawings
Fig. 1 is the general illustration according to the steering device of vehicle of an embodiment of the present invention, and this equipment has the function that the steering operation of chaufeur is assisted;
Fig. 2 is the diagram of circuit by the aux. controls program of the electronic control unit execution of Fig. 1;
Fig. 3 illustrates to turn to the diagram of curves that concerns between torque, the speed of a motor vehicle and the rotational torque, this diagram of curves to show rotational torque bid value table used in the present embodiment.
Fig. 4 illustrates steering angle and benchmark returns the diagram of curves that concerns between the torque, and this diagram of curves shows benchmark used in the present embodiment and returns the torque command value table.
Fig. 5 illustrates to turn to torque and return the diagram of curves that concerns between the gain of torque, and this diagram of curves shows the used gain of torque bid value table that returns in the present embodiment.
The specific embodiment
Below with reference to accompanying drawings embodiments of the invention are described.Fig. 1 is the general illustration according to the steering device of vehicle of present embodiment, and this equipment has the effect that the steering operation of chaufeur is assisted.
This steering device of vehicle comprises steering shaft 12, and the upper end of steering shaft 12 is connected to bearing circle 11 with one rotation thereupon.Miniature gears 13 is connected to the lower end of axle 12 with one rotation with it.The rack tooth that forms on miniature gears 13 and the tooth bar 14 meshes, and constitutes pinion and rack with tooth bar 14.The near front wheel FW1 and off front wheel FW2 are connected to the opposite end of tooth bar 14 in the mode that can turn to.According to tooth bar 14 longitudinal travels that the rotation that centers on its axis by steering shaft 12 causes, left and right sides front-wheel FW1 and FW2 rotate to the left or to the right.Be used to turn to auxiliary electrical motor 15 to be assembled into tooth bar 14.As the ball screw framework 16 of retarder with the rotational delay of electrical motor 15 and convert the straight-line motion of tooth bar 14 to.
Next will the electrical control equipment 20 of control motor 15 operations be described.Electrical control equipment 20 comprises and turns to torque sensor 21, steering angle sensor 22 and car speed sensor 23.Turn to torque sensor 21 to be assembled into steering shaft 12.Input torque (promptly by the torque of chaufeur by the steering operation of bearing circle 11 is imported) acts on the steering shaft 12.Therefore, the torque that acts on the steering shaft 12 is diverted torque sensor 21 detections, as turning to torque T.Note, make bearing circle 11 along turn to when turning to right (clockwise direction) torque T get on the occasion of, and make bearing circle 11 turn to torque T to get negative value when turning to along direction (anticlockwise direction) left.
Torque sensor 21 is the same with turning to, and steering angle sensing 22 also is assembled into steering shaft 12.Steering angle sensor 22 is according to the anglec of rotation that is caused steering shaft 12 by the steering operation of bearing circle 11, and the steering angle θ of bearing circle 11 is detected.Notice that steering angle θ uses on the occasion of representing bearing circle 11 along the anglec of rotation to right (clockwise direction), and represent that with negative value bearing circle 11 is along the anglec of rotation of direction (anticlockwise direction) left.Car speed sensor 23 detects and the output vehicle velocity V.
In addition, electrical control equipment 20 also comprises electronic control unit 24, and electronic control unit 24 is connected to and turns to torque sensor 21, steering angle sensor 22 and car speed sensor 23.Electronic control unit 24 mainly is made up of the microcomputer that comprises CPU, ROM, RAM etc.By the aux. controls program of execution graph 2, electronic control unit 24 drives and control motor 15 through driving circuit 25.Driving circuit 25 provides drive current by electronic control unit 24 appointments to electrical motor 15.
Next will the operation of present embodiment with above-mentioned structure be described.When opening ignition lock, electronic control unit 24 beginnings are repeatedly carried out the aux. controls program with predetermined short time interval.The aux. controls program implementation starts from the step S10 of Fig. 2.At step S11, electronic control unit 24 turns to torque T, steering angle θ and vehicle velocity V from turning to torque sensor 21, steering angle sensor 22 and car speed sensor 23 to receive.
Then, at step S12, electronic control unit 24 calculates rotational torque Tc with reference to the rotational torque bid value table that is provided with among the ROM, and rotational torque Tc is along with turning to torque T and vehicle velocity V to change.Fig. 3 shows rotational torque bid value table.This rotational torque bid value indicator has stored value according to a plurality of rotational torque Tc that turn to torque T to determine in a plurality of representative speed of a motor vehicle each.Can understand that by Fig. 3 along with turning to torque T to increase along positive dirction, rotational torque Tc increases with nonlinear way, and gets steady state value when turning to torque T to reach predetermined value.In addition, along with turning to torque T to increase along negative direction, rotational torque Tc reduces (increasing along width of cloth direction) with nonlinear way, and gets steady state value when turning to torque T to reach predetermined value.For the given torque T that turns to, vehicle velocity V is more little, and rotational torque Tc is just big more.Except utilizing this rotational torque bid value table, also can be in advance with the functional form definition and utilize this function to calculate rotational torque Tc, this rotational torque Tc is according to turning to torque T and vehicle velocity V to change.Notice that in Fig. 3, when represented to turn to torque T by horizontal axis be positive, it was illustrated in and makes bearing circle 11 along the torque that turns to that applies when right (clockwise direction) is rotated; Turn to torque T in negative what represented by horizontal axis, it is illustrated in the torque that turns to that applies when making bearing circle 11 along direction (anticlockwise direction) rotation left.In addition, when the rotational torque Tc that is represented by vertical axis was positive, its expression was applied in and makes bearing circle 11 along the rotational torque to right (clockwise direction) rotation; For in negative, its expression is applied in and makes the rotational torque of bearing circle 11 along direction (anticlockwise direction) rotation left at the rotational torque Tc that is represented by vertical axis.The processing of this step S12 is determined device corresponding to rotational torque of the present invention.
After the processing of step S12, at step S13, electronic control unit 24 calculates the rotational torque Trto that changes along with steering angle θ with reference to the benchmark rotational torque bid value table that is provided with among the ROM.This benchmark returns torque Trto makes bearing circle 11 from the torque a reference value (when returning control) of position of rotation (turned position) when returning neutral position, with to bearing circle 11 is assisted towards the operation that neutral position returns.Benchmark returns torque Trto and always applies along the direction opposite with steering direction.Therefore, benchmark returns torque Trto and always applies in the opposite direction along the side with rotational torque Tc, and as with the resistance of rotating operation antagonism, described driving torque Tc applies along steering direction.
Fig. 4 shows benchmark and returns the torque command value table.This benchmark returns that the torque command value surface has stored according to steering angle θ and definite a plurality of benchmark return the value of torque Trto.Can understand that by Fig. 4 θ increases along with steering angle in positive region, benchmark returns torque Trto and increases (reducing in positive dirction) along negative direction with nonlinear way.In addition, θ increases in negative region along with steering angle, and benchmark returns torque Trto and increases (reducing in negative direction) along positive dirction with nonlinear way.Notice that in Fig. 4, when the steering angle θ that is represented by horizontal axis was positive, its expression made bearing circle 11 from the steering angle of neutral position edge when right (clockwise direction) is rotated; When the steering angle θ that is represented by horizontal axis is negative, the steering angle when its expression makes bearing circle 11 from neutral position along direction (anticlockwise direction) rotation left.In addition, when to return torque be positive, its expression was applied in and makes bearing circle 11 along the torque to right (clockwise direction) rotation at the benchmark of being represented by vertical axis; Return torque in negative at the benchmark of being represented by vertical axis, its expression is applied in and makes the torque of bearing circle 11 along direction (anticlockwise direction) rotation left.That is, for the torque of being represented by the vertical axis of Fig. 4, polarity is determined according to identical criterion.As mentioned above, it is the torque that applies along the direction that bearing circle 11 is returned to neutral position that benchmark returns torque, and along the directive effect opposite with the direction of rotational torque.Therefore, make bearing circle 11 from neutral position along when right is rotated, benchmark returns torque and gets negative value (turning to angle among Fig. 4 is positive zone); When bearing circle 11 was rotated from neutral position along direction left, benchmark returned torque and gets on the occasion of (turning to angle among Fig. 4 is the zone of bearing).Although benchmark return torque depend on the hand of rotation of bearing circle 11 and get on the occasion of or negative value, the absolute value that benchmark returns torque is confirmed as making that the absolute value of steering angle is big more, the absolute value that benchmark returns torque is just big more.The processing of this step S13 is returned torque corresponding to benchmark of the present invention and is determined device.
When the absolute value of steering angle θ was big, making bearing circle return neutral position may need the long period.Therefore, return in the torque command value table at the benchmark of Fig. 4, steering angle θ is big more, and it is just big more that benchmark returns the value that torque Trto is set, thereby the torque of returning when making big steering angle increases.In addition, at steering angle θ hour, also must improve the stability relevant with form of straight lines.Therefore, return in the torque command value table at the benchmark of Fig. 4, θ is more little for steering angle, and it is just more little that benchmark returns the value that torque Trto is set, thereby has prevented from hour to carry out a unnecessary steering operation at steering angle.Except utilizing this benchmark to return the torque command value table, also can define and utilize this function to calculate the benchmark that changes along with steering angle θ and return torque Trto with functional form in advance.
After the calculating benchmark returns torque Trto, at step S14, even if electronic control unit 24 returns gain of torque g.Return gain of torque g with reference to be provided with among the ROM return gain of torque bid value table and according to turning to torque T to change.This return gain of torque g be with step S13 in calculate return the relevant gain of torque Trto.Fig. 5 shows and returns gain of torque bid value table.This gain of torque bid value table that returns has stored according to a plurality of values of returning gain of torque g that turn to torque T to determine.Can understand by Fig. 5, return gain of torque g and be on the occasion of or negative value, and along with the absolute value that turns to torque increases and reduces with nonlinear way.That is, returning gain of torque is confirmed as making and returns gain of torque and turn to torque to increase and reduce along with detected.In addition, turn to torque get predetermined value (absolute value) or bigger in, return gain of torque and be set to zero.Except adopting this gain of torque bid value table that returns, also can be in advance with the functional form definition and utilize this function to calculate to change along with turning to torque T return gain of torque g.The processing of this step S14 is determined device corresponding to the gain of torque of returning of the present invention.
Then, at step S15, electronic control unit 24 calculates and returns torque Trt.This torque Trt that returns returns the gain of torque g that returns that calculates among torque Trto and the step S14 by the benchmark that will calculate among the step S13 to multiply each other and calculate.The processing of this step S15 is returned torque and is determined device corresponding to of the present invention.
Subsequently, at step S16, electronic control unit 24 calculates assist torque Tas.This assist torque Tas calculates by the torque Trt addition of returning that calculates among rotational torque Tc that will calculate among the step S12 and the step S15.
At step S17, electronic control unit 24 is through driving circuit 24 operation and control motors 15, the assist torque Tas that calculates with generation (=Tc+Trt).Specifically, electronic control unit 24 is to driving circuit 25 outgoing current bid values, described current order value representation size and the proportional electric current of assist torque Tas; Driving circuit 25 is to electrical motor 15 supplying electric currents, and the size of this electric current is specified by current command value.
By this control, the rotating torques that electrical motor 15 equates with assist torque Tas in its output shaft place output.This rotating torques is passed to ball screw framework 16.The rotation of 16 pairs of electrical motors 15 of ball screw framework is slowed down, and converts thereof into straight-line motion, thereby drives tooth bar 14 vertically.Thus, chaufeur obtains the auxiliary of electrical motor 15 to the rotary manipulation of bearing circle 11, by the steering effort of chaufeur and the auxiliary force of electrical motor 15 the near front wheel FW1 and off front wheel FW2 is rotated.
In this embodiment that works in the above described manner, by the processing of above-mentioned steps S12 to S16, by rotational torque Tc with return torque Trt and calculate the rotating torques (assist torque) of electrical motor 15 in the Calais mutually.Owing to return torque Trt is torque along the directive effect opposite with the direction of rotational torque Tc, thus supposition rotational torque Tc get on the occasion of the time, return torque Trt and get negative value.That is, above-mentioned addition is actually subtraction, and assist torque Tas becomes on absolute value less than rotational torque Tc.
Therefore, returning torque Trt when big, assist torque Tas diminishes, and makes chaufeur apply bigger power (torque) to bearing circle.Many chaufeurs wish when they begin steering wheel rotation that generally assist torque Tas also increases so that they can enough less power come steering wheel rotation.If this moment, assist torque Tas reduced, then chaufeur just need apply bigger power to bearing circle and begins steering operation, thereby turns to the sense variation.To this, in the present embodiment, when turning to torque big, the gain of torque g that returns that calculates among the step S14 reduces or vanishing, makes to return torque Trt and reduce or vanishing.Therefore, the required power (torque) of the steering operation of bearing circle is big more, and the influence of returning torque is just more little.Therefore, chaufeur need not to apply bigger power as mentioned above, thereby turns to sense when having improved steering wheel rotation.As mentioned above, according to present embodiment, can not only consider to turn to torque but also consider that steering angle set Returning torque.
In addition, in the present embodiment, benchmark return torque Trto be controlled (specifically, be controlled as make benchmark return torque increase along with steering angle and increase) when steering angle θ is associated.Therefore, can control according to steering angle θ and return torque.For example, at steering angle θ big and turn to torque T less in (when for example the operation of bearing circle 11 switches to return from rotating operation), just need such control: this control priority processing makes bearing circle 11 return the control of neutral position.In the present invention, under these circumstances, be set to and get bigger value, increase so return torque, thereby chaufeur can promptly return bearing circle 11 to neutral position because benchmark returns torque Trto.
Hereinbefore, embodiments of the invention are illustrated; But the present invention should not be limited to the foregoing description.For example, the foregoing description is an example with tooth bar (rack) assist type electric power turning facilities, and wherein electrical motor 15 drives tooth bar 14 so that the steering operation of bearing circle 11 is assisted.But the present invention obviously can implement in following any mode: cylinder (column) assist type electric power turning facilities, and wherein, steering shaft 12 is subjected to centering on the driving of its axis so that the steering operation of bearing circle 11 is assisted; Miniature gears (pinion) assist type electric power turning facilities, wherein, the miniature gears of steering box is by direct motor drive.
The foregoing description is an example with following situation: multiply by and return gain of torque g and calculate and return torque Trt by benchmark being returned torque Trto.But, also can calculate and return torque, as long as turn to torque T and the relation between the torque Trt returned remains to make and returns torque Trt and reduce along with turning to torque T to increase according to any other numerical procedure.For example, can adopt such scheme: prepare in advance and represented to return torque and turn to the table that concerns between the torque, and pre-determine and turn to the cooresponding torque value that returns of each value of torque.But, in the scheme of the foregoing description, benchmark returns torque itself and can be controlled by other parameters (for example, as in the foregoing description, can control benchmark by steering angle and return torque), turn to control flexibly thereby can carry out under various conditions.
In the present embodiment, benchmark returns torque Trto and is set to and makes it along with steering angle θ increases and increases.But benchmark returns torque Trto can depend on that also expression outside the steering angle θ turns to the parameter of situation.When determining that based on the parameter of the different steering states of expression benchmark returns torque Trto, can advantageously set with the various cooresponding the bests of situation that turn to and return torque.
Claims (4)
1. steering device of vehicle comprises: be used for actuator that the steering operation of bearing circle is assisted, described equipment is characterised in that and comprises:
Turn to torque sensor, it is used to detect the torque that turns to from described bearing circle input;
Return torque and determine device, it is used for determining when described bearing circle returns returning torque to what described steering operation was assisted, makes describedly to return torque and turn to along with described that torque sensor is detected describedly to be turned to torque to increase and reduce; And
Driving control device is used for according to being returned torque and determined that device is determined and describedly return torque and drive and control described actuator by described.
2. steering device of vehicle according to claim 1 also comprises being used for the steering angle detecting sensor that the steering angle to described bearing circle detects, wherein,
Describedly return torque and determine that device determines the described torque of returning, make and describedly return torque and increase along with the increase of the detected described steering angle of described steering angle sensor.
3. steering device of vehicle according to claim 2, wherein, describedly return torque and determine that device comprises: benchmark returns torque and determines device, it is used for determining that benchmark returns torque, it is as the described torque of returning a reference value of torque that described benchmark returns torque, makes described benchmark return torque and increases along with the increase of the detected described steering angle of described steering angle sensor; And return gain of torque and determine device, it is used for determining to return the relevant gain of torque with described benchmark, make described gain turn to along with described that torque sensor is detected describedly to be turned to torque to increase and reduce, wherein, based on returning described torque that torque determines that device is determined by described benchmark and returning the described gain that gain of torque determines that device is determined, determine the described torque of returning by described.
4. according to each described steering device of vehicle in the claim 1 to 3, also comprise:
Rotational torque is determined device, and it is used to determine to be used for rotational torque that described steering operation is assisted when rotating described bearing circle, makes described rotational torque turn to along with described that torque sensor is detected describedly to be turned to the increase of torque and increase, wherein,
Described driving control device drives and controls described actuator according to being determined described rotational torque that device is determined by described rotational torque and returning torque by described return that torque determines that device is determined described.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005298073A JP4400544B2 (en) | 2005-10-12 | 2005-10-12 | Vehicle steering device |
| JP298073/2005 | 2005-10-12 | ||
| PCT/JP2006/320517 WO2007043673A1 (en) | 2005-10-12 | 2006-10-10 | Vehicle steering apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101287639A true CN101287639A (en) | 2008-10-15 |
| CN101287639B CN101287639B (en) | 2010-11-03 |
Family
ID=37942894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006800382620A Expired - Fee Related CN101287639B (en) | 2005-10-12 | 2006-10-10 | Vehicle steering apparatus |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US8229627B2 (en) |
| EP (1) | EP1935757B1 (en) |
| JP (1) | JP4400544B2 (en) |
| KR (1) | KR100912028B1 (en) |
| CN (1) | CN101287639B (en) |
| BR (1) | BRPI0618406B1 (en) |
| RU (1) | RU2380265C1 (en) |
| WO (1) | WO2007043673A1 (en) |
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| CN108337944A (en) * | 2017-01-24 | 2018-07-31 | 株式会社久保田 | Operation Van |
| CN108382454A (en) * | 2017-02-02 | 2018-08-10 | 福特全球技术公司 | Static state turns to the reduction of revolution |
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| JP4997472B2 (en) * | 2007-01-09 | 2012-08-08 | 株式会社ジェイテクト | Electric power steering device |
| JP2009274662A (en) * | 2008-05-16 | 2009-11-26 | Honda Motor Co Ltd | Electric power steering device |
| JP5491721B2 (en) * | 2008-11-12 | 2014-05-14 | 本田技研工業株式会社 | Control device for electric power steering device |
| KR20120020937A (en) * | 2010-08-31 | 2012-03-08 | 주식회사 만도 | Electric power steering apparatus |
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| GB201118620D0 (en) * | 2011-10-27 | 2011-12-07 | Jaguar Cars | Improvements in closed loop EPAS system |
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- 2006-10-10 RU RU2008118229/11A patent/RU2380265C1/en not_active IP Right Cessation
- 2006-10-10 EP EP06821869A patent/EP1935757B1/en not_active Expired - Fee Related
- 2006-10-10 BR BRPI0618406A patent/BRPI0618406B1/en not_active IP Right Cessation
- 2006-10-10 US US12/090,100 patent/US8229627B2/en active Active
- 2006-10-10 CN CN2006800382620A patent/CN101287639B/en not_active Expired - Fee Related
- 2006-10-10 WO PCT/JP2006/320517 patent/WO2007043673A1/en active Application Filing
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- 2008-04-11 KR KR1020087008649A patent/KR100912028B1/en active IP Right Grant
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108337944A (en) * | 2017-01-24 | 2018-07-31 | 株式会社久保田 | Operation Van |
| CN108337944B (en) * | 2017-01-24 | 2021-03-26 | 株式会社久保田 | Working vehicle |
| CN108382454A (en) * | 2017-02-02 | 2018-08-10 | 福特全球技术公司 | Static state turns to the reduction of revolution |
| CN108382454B (en) * | 2017-02-02 | 2022-04-12 | 福特全球技术公司 | Reduction of static steering slew |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4400544B2 (en) | 2010-01-20 |
| EP1935757B1 (en) | 2011-08-24 |
| CN101287639B (en) | 2010-11-03 |
| BRPI0618406B1 (en) | 2018-07-17 |
| RU2380265C1 (en) | 2010-01-27 |
| US20090157261A1 (en) | 2009-06-18 |
| WO2007043673A1 (en) | 2007-04-19 |
| KR100912028B1 (en) | 2009-08-12 |
| JP2007106219A (en) | 2007-04-26 |
| RU2008118229A (en) | 2009-11-20 |
| EP1935757A4 (en) | 2009-11-11 |
| KR20080043883A (en) | 2008-05-19 |
| EP1935757A1 (en) | 2008-06-25 |
| BRPI0618406A2 (en) | 2011-08-30 |
| US8229627B2 (en) | 2012-07-24 |
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